PEGASUS Effectively ensuring automated driving. Prof. Dr.-Ing. Karsten Lemmer April 6, 2017

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1 PEGASUS Effectively ensuring automated driving. Prof. Dr.-Ing. Karsten Lemmer April 6, 2017

2 Starting Position for Automated Driving Top issue! Technology works Confidence Testing differently automated driving is tomorrow s subject matter (together with electric driving) basic functionality is technologically given has been demonstrated in various projects high standards regarding quality and performance of the automated vehicle measures that product needs to meet existing measures for testing and release are insufficient, too cost-intensive and too complex Consequently, the introduction of highly automated driving features today can only be achieved with great expenditure. 2

3 Current State of Development of Highly Automated Driving Prototypes Lab / Test Ground Products multitude of prototypes built by OEM with HAD-functionality evidence, that HAD is technologically possible partially tested in real traffic situations test drives involve backup safety driver individual analyses to optimize prototypes current test stands/ test grounds do not provide enough test coverage for all HAD features currently in focus there is no procedure for adequate testing (particularly performance) of HADsystems no release or introduction of variety of HAD-features without sufficient assurance current status OEM = Original Equipment Manufacturer HAD = Highly Automated Driving 3

4 Current State of Development of Highly Automated Driving Prototypes Lab / Test Ground Products multitude of prototypes built by OEM with HAD-functionality evidence, that HAD is technologically possible partially tested in real traffic situations test drives involve backup safety driver individual analyses to optimize prototypes current test stands/ test grounds do not provide enough test coverage for all HAD features currently in focus there is no procedure for adequate testing (particularly performance) of HADsystems Advancement through PEGASUS no release or introduction of variety of HAD-features without sufficient assurance current status OEM = Original Equipment Manufacturer HAD = Highly Automated Driving 4

5 PEGASUS Key Figures project for the establishment of generally accepted quality criteria, tools and methods as well as scenarios and situations for the release of highly-automated driving functions 42 months term 17 partners Affiliated partners & Subcontracts Project volume Personnel deployment January 2016 June 2019 OEM: Audi, BMW, Daimler, Opel, Volkswagen Tier 1: ADC Automotive Distance Control, Bosch, Continental Teves Test Lab: TÜV SÜD SMB: fka, imar, IPG, QTronic, TraceTronic, VIRES scientific institutes: DLR, TU Darmstadt i.a. BASt, IFR, ika, OFFIS approx. 34,5 Mio. EUR subsidies: 16,3 Mio. EUR approx man-month or 149 man-years Project coordination, Project office 5

6 Central Issues of the PEGASUS Project What level of performance is expected of an automated vehicle? How can we verify that it achieves the desired performance consistently? Scenario Analysis & Quality Measures Implementation Process Testing Reflection of Results & Embedding What human capacity does the application require? What about technical capacity? Is it sufficiently accepted? Which criteria and measures can be deducted from it? Which tools, methods and processes are necessary? How can completeness of relevant test runs be ensured? What do the criteria and measures for these test runs look like? What can be tested in labs or in simulation? What must be tested on test grounds, what must be tested on the road? Is the concept sustainable? How does the process of embedding work? 6

7 Central Issues of the PEGASUS Project What level of performance is expected of an automated vehicle? How can we verify that it achieves the desired performance consistently? Scenario Analysis & Quality Measures Implementation Process Testing Reflection of Results & Embedding What human capacity does the application require? What about technical capacity? Is it sufficiently accepted? Which criteria and measures can be deducted from it? 7

8 Scenario Analysis and Quality Measures How good is good enough? Which functional performance do highly automated driving functions need to be accepted by driver and society? % Ø? autopilot? human drivers less good good very good driving performance To answer this question generally accepted quality criteria, tools and methods are developed. employed to the sample application of the highway chauffeur 8

9 Scenario Analysis and Quality Measures Deduction of requirements based on the accepted measure of quality Determination of safety level through assessment of probability of occurrence and mechanical manageability in critical situations Determination of critical traffic situations Results are e.g.: System boundaries Metric perspectives Classes of automation risks Deduction of an accepted quality measure for automated driving features Determination of human and mechanical performance as well as effectiveness (accident avoidance potential) Description of application scenario (sample application: Highway Chauffeur + enhanced application scenario) 9

10 Central Issues of the PEGASUS Project What level of performance is expected of an automated vehicle? How can we verify that it achieves the desired performance consistently? Scenario Analysis & Quality Measures Implementation Process Testing Reflection of Results & Embedding Which tools, methods and processes are necessary? 10

11 Implementation Process Transfer of systematic scenario guidelines into process steps in consideration of system classifications and levels of vehicle utilization Analysis of modification needs of existing metrics and automobile series development processes 2 Refinement of the guidelines for required documentation of process steps Preparation of requirements definition for simulation, lab tests, test ground and field coverage Transfer of target value parameters into process steps Guidelines and Protocols for the documentation of technological state-of-the-art compliance during the development process 11

12 Central Issues of the PEGASUS Project What level of performance is expected of an automated vehicle? How can we verify that it achieves the desired performance consistently? Scenario Analysis & Quality Measures Implementation Process Testing Reflection of Results & Embedding How can completeness of relevant test runs be ensured? What do the criteria and measures for these test runs look like? What can be tested in labs or in simulation? What must be tested on test grounds, what must be tested on the road? 12

13 Testing What does a test strategy need to look like to cover the range of situations sufficiently? How can all safety relevant scenarios in the application scope of the function be ensured? How can we determine the functional limitations and prove that we rule them? How can we verify and validate our test methods, test instances and test results? 13

14 Testing Ensurance trap*: Up to now the system s behaviour in traffic has been considered as mere stochastic process. This equates the attempt to cover the state space representatively simply through driving. expected driving accident unrecognized risk Dimension of effect A If the previous method would be transferred to highly automated driving, 240 million kilometer* of driving would be necessary! * Absicherung automatischen Fahrens, Prof. Dr. H. Winner, 6. FAS-Tagung München,

15 Testing A paradigm shift is mandatory! for a holistic approach for sufficient, complete and efficient testing of highly automated driving within the functional limits by systematic scenario creation and methods of test coverage Black Box Stochastic field testing? OEM-specific PEGASUS White Box / Testable Design System integrity observer Cameras Software Radars Fusion Situation analysis Control/ Plan Actuating elements Lidar etc. 15

16 Testing Approach: iterative determination of the scenarios for the highly automated function using simulation, test ground and field test in comparison with a central database of test specifications virtualization of the test and ensuring process to control the huge test range and volume simulative determination of the functional limitation and proof of controllability challenges for the simulation: realistic models (traffic, sensors) proof of realistic reproduction, that means verification and validation on test ground and in field tests automated identification of potential critical situations that are not yet modelled Dimension of effect B functional limitation simulation based identification of functional limitations simulation based verification of functional limitations Dimension of effect A 16

17 Testing Generation of scenarios: levels of abstraction Functional scenarios Basis road: highway in bend Stationary objects: - Basis road: Logic scenarios number of lanes [2..4] curve radius [0,6..0,9] kph Stationary objects: - Concrete scenarios Basis road: number of lanes 3 curve radius 0,7 km Stationary objects: - bunch/jam Movable objects: ego, jam; interaction: ego approaches end of jam Movable objects: End of jam position[ ] m jam speed [0..30] kph ego distance [ ] m ego speed [ ] kph Movable objects: end of jam position jam speed ego distance ego speed 40 m 30 kph 200 m 100 kph Environment: Environment: Environment: ego summer, rain temperature [10..40] C droplet size [ ] µm rain amount [0,1..10] mm/h temperature 20 C droplet size 30 µm rain amount 2 mm/h number of scenarios level of abstraction 17

18 Testing Test Preparation Simulation Data base functional scenarios Test concept selection of logic scenario incl. containment of parameter range simulation (determination of critical concrete scenarios) automated evaluation and assessment logic scenarios incl. scenario parameters Test ground verification SP 1 concrete scenarios test results selection of concrete scenario and test planning Field tests test execution Selektion log. Szenario inkl. Eingrenzung Parameterbereich evaluation and assessment calibration & validation metrics and assessment criteria identification of critical scenarios in measuring data Replay2Sim (measuring data 2 concrete scenario) 18

19 Central Issues of the PEGASUS Project What level of performance is expected of an automated vehicle? How can we verify that it achieves the desired performance consistently? Scenario Analysis & Quality Measures Implementation Process Testing Reflection of Results & Embedding Is the concept sustainable? How does the process of embedding work? 19

20 Reflection of Results & Embedding Statement about the distribution ratio between the applied test methods (from simulation to test ground to field test) Proof of Concept trough verification (1), assessment (2) and statement (3) Assessment, whether the test goal can be achieved with the utilized processes and methods in PEGASUS Assistance with embedding of acquired results with our project partners Verification of methods to identify relevant situations, quality and criticality measures for the assurance of HAD features Lessons learned regarding the implementation of the results in existing corporate structures 20

21 Summary / Selected Goals of the Project development of a procedure for the determination of design criteria and establishment of quality measures considering the driver in regards to his abilities design of the development process for the release of highly automated vehicle systems conceptual design, assembly and demonstration of building blocks for an efficient toolchain for simulation, test ground and field test embedding of findings in the industry distribution and pioneering of a standardization All essential project results are freely accessible. 21

22 PEGASUS closes key gaps in the field of testing for highly automated driving functions Prototypes Lab / Testing Ground Products Advancement through PEGASUS current status and prepares the way for introducing highly automated driving functions on the market! 22

23 Contact: Prof. Dr. Karsten Lemmer Member of the Executive Board for Energy and Transport German Aerospace Center (DLR) 0531/